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On LQR controller design for an inverted pendulum stabilization

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Abstract

Linear quadratic regulator (LQR) is a control strategy that has found a wide range of applications. Even though LQR possesses high performance and good robustness, designing these controllers has been proved to be difficult, primarily due to lacking of a proper selection methodology to select Q and R weighing matrices. In this paper, we propose a deterministic approach to their selection, giving the designer actual control over performance parameters. This method has been by validated by applying it to the stabilization of a practical inverted pendulum system. MATLAB simulation results reveal that the proposed method results in good stability, settling time and overshoot.

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The authors did not receive funding from any organization for the submitted work.

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Author notes

  1. S. J. Chacko and R. J. Abraham contributed equally to this work.

Authors and Affiliations

  1. Department of Aerospace Engineering, Indian Institute of Space Science and Technology, Thiruvananthapuram, Kerala, 695547, India

    Sanjay Joseph Chacko

  2. Department of Avionics, Indian Institute of Space Science and Technology, Thiruvananthapuram, Kerala, 695547, India

    Rajesh Joseph Abraham

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  1. Sanjay Joseph Chacko
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  2. Rajesh Joseph Abraham
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Correspondence to Rajesh Joseph Abraham.

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Chacko, S.J., Abraham, R.J. On LQR controller design for an inverted pendulum stabilization. Int. J. Dynam. Control 11, 1584–1592 (2023). https://doi.org/10.1007/s40435-022-01079-0

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  • DOI: https://doi.org/10.1007/s40435-022-01079-0

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